Rev 1538 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1538 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
||
| 3 | // + Nur für den privaten Gebrauch |
||
| 4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
||
| 5 | // + www.MikroKopter.com |
||
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
| 10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
| 11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 12 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 19 | // + eindeutig als Ursprung verlinkt werden |
||
| 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 22 | // + Benutzung auf eigene Gefahr |
||
| 23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 26 | // + mit unserer Zustimmung zulässig |
||
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 31 | // + this list of conditions and the following disclaimer. |
||
| 32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 33 | // + from this software without specific prior written permission. |
||
| 34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 35 | // + for non-commercial use (directly or indirectly) |
||
| 36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 37 | // + with our written permission |
||
| 38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
| 39 | // + clearly linked as origin |
||
| 40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
| 41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 52 | |||
| 53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 54 | // + Contant Values |
||
| 55 | // + 0-250 -> normale Values |
||
| 56 | // + 251 -> Poti1 |
||
| 57 | // + 252 -> Poti2 |
||
| 58 | // + 253 -> Poti3 |
||
| 59 | // + 254 -> Poti4 |
||
| 60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 61 | |||
| 62 | #ifndef EEMEM |
||
| 63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
||
| 64 | #endif |
||
| 65 | |||
| 66 | |||
| 67 | #include <avr/eeprom.h> |
||
| 68 | #include <string.h> |
||
| 69 | #include "eeprom.h" |
||
| 70 | #include "printf_P.h" |
||
| 71 | #include "led.h" |
||
| 72 | #include "main.h" |
||
| 73 | #include "fc.h" |
||
| 74 | |||
| 75 | |||
| 76 | // byte array in eeprom |
||
| 77 | uint8_t EEPromArray[E2END+1] EEMEM; |
||
| 78 | |||
| 79 | paramset_t ParamSet; |
||
| 80 | MixerTable_t Mixer; |
||
| 81 | |||
| 82 | |||
| 83 | /***************************************************/ |
||
| 84 | /* Default Values for parameter set 1 */ |
||
| 85 | /***************************************************/ |
||
| 86 | void ParamSet_DefaultSet1(void) // sport |
||
| 87 | { |
||
| 88 | if(BoardRelease >= 20) |
||
| 89 | { |
||
| 90 | ParamSet.GyroD = 5; |
||
| 91 | ParamSet.DriftComp = 0; |
||
| 92 | ParamSet.GyroAccFactor = 27; |
||
| 93 | ParamSet.AngleTurnOverNick = 78; |
||
| 94 | ParamSet.AngleTurnOverRoll = 78; |
||
| 95 | } |
||
| 96 | else |
||
| 97 | { |
||
| 98 | ParamSet.GyroD = 3; |
||
| 99 | ParamSet.DriftComp = 32; |
||
| 100 | ParamSet.GyroAccFactor = 30; |
||
| 101 | ParamSet.AngleTurnOverNick = 85; |
||
| 102 | ParamSet.AngleTurnOverRoll = 85; |
||
| 103 | } |
||
| 104 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
||
| 105 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
||
| 106 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
||
| 107 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
||
| 108 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
||
| 109 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
||
| 110 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
||
| 111 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
||
| 112 | ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX; |
||
| 113 | ParamSet.Config1 = 0; |
||
| 114 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
||
| 115 | ParamSet.HeightMinGas = 30; |
||
| 116 | ParamSet.MaxHeight = 251; |
||
| 117 | ParamSet.HeightP = 10; |
||
| 118 | ParamSet.HeightD = 30; |
||
| 119 | ParamSet.Height_ACC_Effect = 30; |
||
| 120 | ParamSet.Height_HoverBand = 5; |
||
| 121 | ParamSet.Height_GPS_Z = 64; |
||
| 122 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
||
| 123 | ParamSet.Height_Gain = 20; |
||
| 124 | ParamSet.StickP = 14; |
||
| 125 | ParamSet.StickD = 16; |
||
| 126 | ParamSet.StickYawP = 12; |
||
| 127 | ParamSet.GasMin = 8; |
||
| 128 | ParamSet.GasMax = 230; |
||
| 129 | ParamSet.CompassYawEffect = 128; |
||
| 130 | ParamSet.GyroP = 80; |
||
| 131 | ParamSet.GyroI = 150; |
||
| 132 | ParamSet.GyroYawP = 80; |
||
| 133 | ParamSet.GyroYawI = 150; |
||
| 134 | ParamSet.LowVoltageWarning = 33; // automatic cell detection for values < 50 |
||
| 135 | ParamSet.EmergencyGas = 35; |
||
| 136 | ParamSet.EmergencyGasDuration = 30; |
||
| 137 | ParamSet.UfoArrangement = 0; |
||
| 138 | ParamSet.IFactor = 32; |
||
| 139 | ParamSet.UserParam1 = 0; |
||
| 140 | ParamSet.UserParam2 = 0; |
||
| 141 | ParamSet.UserParam3 = 0; |
||
| 142 | ParamSet.UserParam4 = 0; |
||
| 143 | ParamSet.UserParam5 = 0; |
||
| 144 | ParamSet.UserParam6 = 0; |
||
| 145 | ParamSet.UserParam7 = 0; |
||
| 146 | ParamSet.UserParam8 = 0; |
||
| 147 | ParamSet.ServoCompInvert = 1; |
||
| 148 | ParamSet.ServoRefresh = 6; |
||
| 149 | ParamSet.ServoNickControl = 100; |
||
| 150 | ParamSet.ServoNickComp = 40; |
||
| 151 | ParamSet.ServoNickMin = 0; |
||
| 152 | ParamSet.ServoNickMax = 250; |
||
| 153 | ParamSet.ServoRollControl = 100; |
||
| 154 | ParamSet.ServoRollComp = 40; |
||
| 155 | ParamSet.ServoRollMin = 0; |
||
| 156 | ParamSet.ServoRollMax = 250; |
||
| 157 | ParamSet.LoopGasLimit = 50; |
||
| 158 | ParamSet.LoopThreshold = 90; |
||
| 159 | ParamSet.LoopHysteresis = 50; |
||
| 160 | ParamSet.AxisCoupling1 = 90; |
||
| 161 | ParamSet.AxisCoupling2 = 80; |
||
| 162 | ParamSet.AxisCouplingYawCorrection = 1; |
||
| 163 | ParamSet.GyroAccTrim = 16; |
||
| 164 | ParamSet.DynamicStability = 100; |
||
| 165 | ParamSet.J16Bitmask = 95; |
||
| 166 | ParamSet.J17Bitmask = 243; |
||
| 167 | ParamSet.J16Bitmask_Warning = 0xAA; |
||
| 168 | ParamSet.J17Bitmask_Warning = 0xAA; |
||
| 169 | ParamSet.J16Timing = 15; |
||
| 170 | ParamSet.J17Timing = 15; |
||
| 171 | ParamSet.NaviGpsModeControl = 252; |
||
| 172 | ParamSet.NaviGpsGain = 100; |
||
| 173 | ParamSet.NaviGpsP = 90; |
||
| 174 | ParamSet.NaviGpsI = 90; |
||
| 175 | ParamSet.NaviGpsD = 90; |
||
| 176 | ParamSet.NaviGpsPLimit = 75; |
||
| 177 | ParamSet.NaviGpsILimit = 75; |
||
| 178 | ParamSet.NaviGpsDLimit = 75; |
||
| 179 | ParamSet.NaviGpsACC = 0; |
||
| 180 | ParamSet.NaviGpsMinSat = 6; |
||
| 181 | ParamSet.NaviStickThreshold = 8; |
||
| 182 | ParamSet.NaviWindCorrection = 90; |
||
| 183 | ParamSet.NaviSpeedCompensation = 30; |
||
| 184 | ParamSet.NaviOperatingRadius = 100; |
||
| 185 | ParamSet.NaviAngleLimitation = 100; |
||
| 186 | ParamSet.NaviPHLoginTime = 4; |
||
| 187 | memcpy(ParamSet.Name, "Sport\0",6); |
||
| 188 | } |
||
| 189 | |||
| 190 | |||
| 191 | /***************************************************/ |
||
| 192 | /* Default Values for parameter set 2 */ |
||
| 193 | /***************************************************/ |
||
| 194 | void ParamSet_DefaultSet2(void) // normal |
||
| 195 | { |
||
| 196 | if(BoardRelease >= 20) |
||
| 197 | { |
||
| 198 | ParamSet.GyroD = 5; |
||
| 199 | ParamSet.DriftComp = 0; |
||
| 200 | ParamSet.GyroAccFactor = 27; |
||
| 201 | ParamSet.AngleTurnOverNick = 78; |
||
| 202 | ParamSet.AngleTurnOverRoll = 78; |
||
| 203 | } |
||
| 204 | else |
||
| 205 | { |
||
| 206 | ParamSet.GyroD = 3; |
||
| 207 | ParamSet.DriftComp = 32; |
||
| 208 | ParamSet.GyroAccFactor = 30; |
||
| 209 | ParamSet.AngleTurnOverNick = 85; |
||
| 210 | ParamSet.AngleTurnOverRoll = 85; |
||
| 211 | } |
||
| 212 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
||
| 213 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
||
| 214 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
||
| 215 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
||
| 216 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
||
| 217 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
||
| 218 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
||
| 219 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
||
| 220 | ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX; |
||
| 221 | ParamSet.Config1 = 0; |
||
| 222 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
||
| 223 | ParamSet.HeightMinGas = 30; |
||
| 224 | ParamSet.MaxHeight = 251; |
||
| 225 | ParamSet.HeightP = 10; |
||
| 226 | ParamSet.HeightD = 30; |
||
| 227 | ParamSet.Height_ACC_Effect = 30; |
||
| 228 | ParamSet.Height_HoverBand = 5; |
||
| 229 | ParamSet.Height_GPS_Z = 64; |
||
| 230 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
||
| 231 | ParamSet.Height_Gain = 15; |
||
| 232 | ParamSet.StickP = 10; |
||
| 233 | ParamSet.StickD = 16; |
||
| 234 | ParamSet.StickYawP = 6; |
||
| 235 | ParamSet.GasMin = 8; |
||
| 236 | ParamSet.GasMax = 230; |
||
| 237 | ParamSet.CompassYawEffect = 128; |
||
| 238 | ParamSet.GyroP = 90; |
||
| 239 | ParamSet.GyroI = 120; |
||
| 240 | ParamSet.GyroYawP = 90; |
||
| 241 | ParamSet.GyroYawI = 120; |
||
| 242 | ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
||
| 243 | ParamSet.EmergencyGas = 35; |
||
| 244 | ParamSet.EmergencyGasDuration = 30; |
||
| 245 | ParamSet.UfoArrangement = 0; |
||
| 246 | ParamSet.IFactor = 32; |
||
| 247 | ParamSet.UserParam1 = 0; |
||
| 248 | ParamSet.UserParam2 = 0; |
||
| 249 | ParamSet.UserParam3 = 0; |
||
| 250 | ParamSet.UserParam4 = 0; |
||
| 251 | ParamSet.UserParam5 = 0; |
||
| 252 | ParamSet.UserParam6 = 0; |
||
| 253 | ParamSet.UserParam7 = 0; |
||
| 254 | ParamSet.UserParam8 = 0; |
||
| 255 | ParamSet.ServoCompInvert = 1; |
||
| 256 | ParamSet.ServoRefresh = 6; |
||
| 257 | ParamSet.ServoNickControl = 100; |
||
| 258 | ParamSet.ServoNickComp = 40; |
||
| 259 | ParamSet.ServoNickMin = 0; |
||
| 260 | ParamSet.ServoNickMax = 250; |
||
| 261 | ParamSet.ServoRollControl = 100; |
||
| 262 | ParamSet.ServoRollComp = 40; |
||
| 263 | ParamSet.ServoRollMin = 0; |
||
| 264 | ParamSet.ServoRollMax = 250; |
||
| 265 | ParamSet.LoopGasLimit = 50; |
||
| 266 | ParamSet.LoopThreshold = 90; |
||
| 267 | ParamSet.LoopHysteresis = 50; |
||
| 268 | ParamSet.AxisCoupling1 = 90; |
||
| 269 | ParamSet.AxisCoupling2 = 80; |
||
| 270 | ParamSet.AxisCouplingYawCorrection = 60; |
||
| 271 | ParamSet.GyroAccTrim = 32; |
||
| 272 | ParamSet.DynamicStability = 75; |
||
| 273 | ParamSet.J16Bitmask = 95; |
||
| 274 | ParamSet.J17Bitmask = 243; |
||
| 275 | ParamSet.J16Bitmask_Warning = 0xAA; |
||
| 276 | ParamSet.J17Bitmask_Warning = 0xAA; |
||
| 277 | ParamSet.J16Timing = 20; |
||
| 278 | ParamSet.J17Timing = 20; |
||
| 279 | ParamSet.NaviGpsModeControl = 252; |
||
| 280 | ParamSet.NaviGpsGain = 100; |
||
| 281 | ParamSet.NaviGpsP = 90; |
||
| 282 | ParamSet.NaviGpsI = 90; |
||
| 283 | ParamSet.NaviGpsD = 90; |
||
| 284 | ParamSet.NaviGpsPLimit = 75; |
||
| 285 | ParamSet.NaviGpsILimit = 75; |
||
| 286 | ParamSet.NaviGpsDLimit = 75; |
||
| 287 | ParamSet.NaviGpsACC = 0; |
||
| 288 | ParamSet.NaviGpsMinSat = 6; |
||
| 289 | ParamSet.NaviStickThreshold = 8; |
||
| 290 | ParamSet.NaviWindCorrection = 90; |
||
| 291 | ParamSet.NaviSpeedCompensation = 30; |
||
| 292 | ParamSet.NaviOperatingRadius = 100; |
||
| 293 | ParamSet.NaviAngleLimitation = 100; |
||
| 294 | ParamSet.NaviPHLoginTime = 4; |
||
| 295 | memcpy(ParamSet.Name, "Normal\0", 7); |
||
| 296 | } |
||
| 297 | |||
| 298 | |||
| 299 | /***************************************************/ |
||
| 300 | /* Default Values for parameter set 3 */ |
||
| 301 | /***************************************************/ |
||
| 302 | void ParamSet_DefaultSet3(void) // beginner |
||
| 303 | { |
||
| 304 | if(BoardRelease >= 20) |
||
| 305 | { |
||
| 306 | ParamSet.GyroD = 5; |
||
| 307 | ParamSet.DriftComp = 0; |
||
| 308 | ParamSet.GyroAccFactor = 27; // Value : 1-64 |
||
| 309 | ParamSet.AngleTurnOverNick = 78; |
||
| 310 | ParamSet.AngleTurnOverRoll = 78; |
||
| 311 | } |
||
| 312 | else |
||
| 313 | { |
||
| 314 | ParamSet.GyroD = 3; |
||
| 315 | ParamSet.DriftComp = 32; |
||
| 316 | ParamSet.GyroAccFactor = 30; // Value : 1-64 |
||
| 317 | ParamSet.AngleTurnOverNick = 85; |
||
| 318 | ParamSet.AngleTurnOverRoll = 85; |
||
| 319 | } |
||
| 320 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
||
| 321 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
||
| 322 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
||
| 323 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
||
| 324 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
||
| 325 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
||
| 326 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
||
| 327 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
||
| 328 | ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX | CFG0_ROTARY_RATE_LIMITER; |
||
| 329 | ParamSet.Config1 = 0; |
||
| 330 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
||
| 331 | ParamSet.HeightMinGas = 30; |
||
| 332 | ParamSet.MaxHeight = 251; |
||
| 333 | ParamSet.HeightP = 10; |
||
| 334 | ParamSet.HeightD = 30; |
||
| 335 | ParamSet.Height_ACC_Effect = 30; |
||
| 336 | ParamSet.Height_HoverBand = 5; |
||
| 337 | ParamSet.Height_GPS_Z = 64; |
||
| 338 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
||
| 339 | ParamSet.Height_Gain = 15; |
||
| 340 | ParamSet.StickP = 8; |
||
| 341 | ParamSet.StickD = 16; |
||
| 342 | ParamSet.StickYawP = 6; |
||
| 343 | ParamSet.GasMin = 8; |
||
| 344 | ParamSet.GasMax = 230; |
||
| 345 | ParamSet.CompassYawEffect = 128; |
||
| 346 | ParamSet.GyroP = 100; |
||
| 347 | ParamSet.GyroI = 120; |
||
| 348 | ParamSet.GyroYawP = 100; |
||
| 349 | ParamSet.GyroYawI = 120; |
||
| 350 | ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
||
| 351 | ParamSet.EmergencyGas = 35; |
||
| 352 | ParamSet.EmergencyGasDuration = 20; |
||
| 353 | ParamSet.UfoArrangement = 0; |
||
| 354 | ParamSet.IFactor = 16; |
||
| 355 | ParamSet.UserParam1 = 0; |
||
| 356 | ParamSet.UserParam2 = 0; |
||
| 357 | ParamSet.UserParam3 = 0; |
||
| 358 | ParamSet.UserParam4 = 0; |
||
| 359 | ParamSet.UserParam5 = 0; |
||
| 360 | ParamSet.UserParam6 = 0; |
||
| 361 | ParamSet.UserParam7 = 0; |
||
| 362 | ParamSet.UserParam8 = 0; |
||
| 363 | ParamSet.ServoCompInvert = 1; |
||
| 364 | ParamSet.ServoRefresh = 6; |
||
| 365 | ParamSet.ServoNickControl = 100; |
||
| 366 | ParamSet.ServoNickComp = 40; |
||
| 367 | ParamSet.ServoNickMin = 0; |
||
| 368 | ParamSet.ServoNickMax = 250; |
||
| 369 | ParamSet.ServoRollControl = 100; |
||
| 370 | ParamSet.ServoRollComp = 40; |
||
| 371 | ParamSet.ServoRollMin = 0; |
||
| 372 | ParamSet.ServoRollMax = 250; |
||
| 373 | ParamSet.LoopGasLimit = 50; |
||
| 374 | ParamSet.LoopThreshold = 90; |
||
| 375 | ParamSet.LoopHysteresis = 50; |
||
| 376 | ParamSet.AxisCoupling1 = 90; |
||
| 377 | ParamSet.AxisCoupling2 = 80; |
||
| 378 | ParamSet.AxisCouplingYawCorrection = 70; |
||
| 379 | ParamSet.GyroAccTrim = 32; |
||
| 380 | ParamSet.DynamicStability = 50; |
||
| 381 | ParamSet.J16Bitmask = 95; |
||
| 382 | ParamSet.J17Bitmask = 243; |
||
| 383 | ParamSet.J16Bitmask_Warning = 0xAA; |
||
| 384 | ParamSet.J17Bitmask_Warning = 0xAA; |
||
| 385 | ParamSet.J16Timing = 30; |
||
| 386 | ParamSet.J17Timing = 30; |
||
| 387 | ParamSet.NaviGpsModeControl = 252; |
||
| 388 | ParamSet.NaviGpsGain = 100; |
||
| 389 | ParamSet.NaviGpsP = 90; |
||
| 390 | ParamSet.NaviGpsI = 90; |
||
| 391 | ParamSet.NaviGpsD = 90; |
||
| 392 | ParamSet.NaviGpsPLimit = 75; |
||
| 393 | ParamSet.NaviGpsILimit = 75; |
||
| 394 | ParamSet.NaviGpsDLimit = 75; |
||
| 395 | ParamSet.NaviGpsACC = 0; |
||
| 396 | ParamSet.NaviGpsMinSat = 6; |
||
| 397 | ParamSet.NaviStickThreshold = 8; |
||
| 398 | ParamSet.NaviWindCorrection = 90; |
||
| 399 | ParamSet.NaviSpeedCompensation = 30; |
||
| 400 | ParamSet.NaviOperatingRadius = 100; |
||
| 401 | ParamSet.NaviAngleLimitation = 100; |
||
| 402 | ParamSet.NaviPHLoginTime = 4; |
||
| 403 | memcpy(ParamSet.Name, "Beginner\0", 9); |
||
| 404 | } |
||
| 405 | |||
| 406 | /***************************************************/ |
||
| 407 | /* Read Parameter from EEPROM as byte */ |
||
| 408 | /***************************************************/ |
||
| 409 | uint8_t GetParamByte(uint16_t param_id) |
||
| 410 | { |
||
| 411 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
||
| 412 | } |
||
| 413 | |||
| 414 | /***************************************************/ |
||
| 415 | /* Write Parameter to EEPROM as byte */ |
||
| 416 | /***************************************************/ |
||
| 417 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
| 418 | { |
||
| 419 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
||
| 420 | } |
||
| 421 | |||
| 422 | /***************************************************/ |
||
| 423 | /* Read Parameter from EEPROM as word */ |
||
| 424 | /***************************************************/ |
||
| 425 | uint16_t GetParamWord(uint16_t param_id) |
||
| 426 | { |
||
| 427 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
||
| 428 | } |
||
| 429 | |||
| 430 | /***************************************************/ |
||
| 431 | /* Write Parameter to EEPROM as word */ |
||
| 432 | /***************************************************/ |
||
| 433 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
| 434 | { |
||
| 435 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
||
| 436 | } |
||
| 437 | |||
| 438 | /***************************************************/ |
||
| 439 | /* Read Parameter Set from EEPROM */ |
||
| 440 | /***************************************************/ |
||
| 441 | // number [1..5] |
||
| 442 | void ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
| 443 | { |
||
| 444 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
| 445 | eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
||
| 446 | LED_Init(); |
||
| 447 | } |
||
| 448 | |||
| 449 | /***************************************************/ |
||
| 450 | /* Write Parameter Set to EEPROM */ |
||
| 451 | /***************************************************/ |
||
| 452 | // number [1..5] |
||
| 453 | void ParamSet_WriteToEEProm(uint8_t setnumber) |
||
| 454 | { |
||
| 455 | if(setnumber > 5) setnumber = 5; |
||
| 456 | if(setnumber < 1) return; |
||
| 457 | eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
||
| 458 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
||
| 459 | eeprom_write_block( &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
||
| 460 | // set this parameter set to active set |
||
| 461 | SetActiveParamSet(setnumber); |
||
| 462 | LED_Init(); |
||
| 463 | } |
||
| 464 | |||
| 465 | /***************************************************/ |
||
| 466 | /* Read MixerTable from EEPROM */ |
||
| 467 | /***************************************************/ |
||
| 468 | uint8_t MixerTable_ReadFromEEProm(void) |
||
| 469 | { |
||
| 470 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) |
||
| 471 | { |
||
| 472 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
||
| 473 | return 1; |
||
| 474 | } |
||
| 475 | else return 0; |
||
| 476 | } |
||
| 477 | |||
| 478 | /***************************************************/ |
||
| 479 | /* Write Mixer Table to EEPROM */ |
||
| 480 | /***************************************************/ |
||
| 481 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 482 | { |
||
| 483 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 484 | { |
||
| 485 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
||
| 486 | return 1; |
||
| 487 | } |
||
| 488 | else return 0; |
||
| 489 | } |
||
| 490 | |||
| 491 | /***************************************************/ |
||
| 492 | /* Default Values for Mixer Table */ |
||
| 493 | /***************************************************/ |
||
| 494 | void MixerTable_Default(void) // Quadro |
||
| 495 | { |
||
| 496 | uint8_t i; |
||
| 497 | |||
| 498 | Mixer.Revision = EEMIXER_REVISION; |
||
| 499 | // clear mixer table |
||
| 500 | for(i = 0; i < 16; i++) |
||
| 501 | { |
||
| 502 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 503 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 504 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 505 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 506 | } |
||
| 507 | // default = Quadro |
||
| 508 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 509 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 510 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 511 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
| 512 | memcpy(Mixer.Name, "Quadro\0", 7); |
||
| 513 | } |
||
| 514 | |||
| 515 | |||
| 516 | /***************************************************/ |
||
| 517 | /* Get active parameter set */ |
||
| 518 | /***************************************************/ |
||
| 519 | uint8_t GetActiveParamSet(void) |
||
| 520 | { |
||
| 521 | uint8_t setnumber; |
||
| 522 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
||
| 523 | if(setnumber > 5) |
||
| 524 | { |
||
| 525 | setnumber = 3; |
||
| 526 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
||
| 527 | } |
||
| 528 | return(setnumber); |
||
| 529 | } |
||
| 530 | |||
| 531 | /***************************************************/ |
||
| 532 | /* Set active parameter set */ |
||
| 533 | /***************************************************/ |
||
| 534 | void SetActiveParamSet(uint8_t setnumber) |
||
| 535 | { |
||
| 536 | if(setnumber > 5) setnumber = 5; |
||
| 537 | if(setnumber < 1) setnumber = 1; |
||
| 538 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
||
| 539 | } |
||
| 540 | |||
| 541 | /***************************************************/ |
||
| 542 | /* Initialize EEPROM Parameter Sets */ |
||
| 543 | /***************************************************/ |
||
| 544 | void ParamSet_Init(void) |
||
| 545 | { |
||
| 546 | uint8_t Channel_Backup = 0, i; |
||
| 547 | // parameter version check |
||
| 548 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) |
||
| 549 | { |
||
| 550 | // if version check faild |
||
| 551 | printf("\n\rInit Parameter in EEPROM"); |
||
| 552 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
||
| 553 | // check if channel mapping backup is valid |
||
| 554 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
||
| 555 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
||
| 556 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
||
| 557 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
||
| 558 | ) |
||
| 559 | { |
||
| 560 | Channel_Backup = 1; |
||
| 561 | } |
||
| 562 | // fill all 5 parameter settings |
||
| 563 | for (i = 1;i < 6; i++) |
||
| 564 | { |
||
| 565 | switch(i) |
||
| 566 | { |
||
| 567 | case 1: |
||
| 568 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 569 | break; |
||
| 570 | case 2: |
||
| 571 | ParamSet_DefaultSet2(); // Kamera |
||
| 572 | break; |
||
| 573 | case 3: |
||
| 574 | ParamSet_DefaultSet3(); // Beginner |
||
| 575 | break; |
||
| 576 | default: |
||
| 577 | ParamSet_DefaultSet2(); // Kamera |
||
| 578 | break; |
||
| 579 | } |
||
| 580 | if(Channel_Backup) // if we have a rc channel mapping backup in eeprom |
||
| 581 | { |
||
| 582 | // restore it |
||
| 583 | ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
||
| 584 | ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
||
| 585 | ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
||
| 586 | ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
||
| 587 | ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
||
| 588 | ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
||
| 589 | ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
||
| 590 | ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
||
| 591 | } |
||
| 592 | ParamSet_WriteToEEProm(i); |
||
| 593 | } |
||
| 594 | // default-Setting is parameter set 3 |
||
| 595 | SetActiveParamSet(3); |
||
| 596 | // update version info |
||
| 597 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
||
| 598 | } |
||
| 599 | // read active parameter set to ParamSet stucture |
||
| 600 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
| 601 | printf("\n\rUsing Parameter Set %d", GetActiveParamSet()); |
||
| 602 | |||
| 603 | // load mixer table |
||
| 604 | if(!MixerTable_ReadFromEEProm() ) |
||
| 605 | { |
||
| 606 | printf("\n\rGenerating default Mixer Table"); |
||
| 607 | MixerTable_Default(); // Quadro |
||
| 608 | MixerTable_WriteToEEProm(); |
||
| 609 | } |
||
| 610 | // determine motornumber |
||
| 611 | RequiredMotors = 0; |
||
| 612 | for(i = 0; i < 16; i++) |
||
| 613 | { |
||
| 614 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 615 | } |
||
| 616 | |||
| 617 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 618 | printf("\n\r=============================="); |
||
| 619 | } |